Download or read book Developing an Active Ankle Foot Orthosis Based on Shape Memory Alloys written by Ehsan Tarkesh Esfahani and published by . This book was released on 2007 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis is aimed toward the development and evaluation of a novel active ankle foot orthosis (AAFO) based on shape memory alloy (SMA) actuators. This device intends to fill the gap in the existing research aimed at helping patients with drop foot muscle deficiencies as well as rehabilitation activities. To examine the feasibility of this idea, the current study focuses on the dynamic behavior of the ankle joint. A SMA manipulator with a similar dynamic behavior is experimentally evaluated. Nonlinear behavior of SMA wires requires nonlinear control techniques such as Sliding Mode Controller (SMC) for tracking the desired ankle angle. Simulation results of several different techniques are compared (PID, SMC, SMC-PID and Adaptive PID) and finally the experimental result of an Adaptive PID is used to check the stability of walking. This results shows that an Adaptive PID controller as a robust and precision control can be used to track the desired position of the ankle. However for frequencies more than 0.25 Hz (time cycle less than 4 seconds), the walking conditions will be unstable due to slow cooling process.

Download or read book Design and Simulation of a Single hinge and Adaptive Ankle Foot Orthoses Based on Superelasticity of Shape Memory Alloys written by Morteza Gorzinmataee and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this thesis is to propose and develop new designs of Ankle Foot Orthosis (AFO) based on superelastic characteristics of shape memory alloys (SMAs). The problem investigated in this research is a human gait abnormality called drop foot caused by the paralysis of the muscles which allow the ankle to dorsiflex. This neuromuscular disorder results in foot slap after heel strike and toe drag during leg swing. As the most common solution, drop foot patients use an orthotic device called AFO add support and improve their gait. However, development of a more compact assistive device, which could passively or actively secure the normal gait requirements, is still a need by both patients and clinicians. Based on investigations and experimentations performed in Dynamic and Smart Systems Laboratory at University of Toledo, SMA is a potential solution due to its unique stiffness behavior and hysteretic characteristics. In this work superelastic characteristics of SMAs is considered as an enabler in the development of new generation of AFOs. Within this work a passive AFO design is proposed which employs a superelastic SMA element as the hinge of the device. This SMA hinge controls the ankle motion by storing and releasing energy during walking. The superelastic element enables the AFO to provide sufficient torque during dorsiflexion to raise the foot in the swing phase of the gait. In order to evaluate the design performance a comprehensive gait analysis study is performed to extract the requirements of motion, understand the critical loads, and calibrate the desired stiffness profiles for the ankle and the superelastic element. A Finite Element Analysis is performed to realize an optimum design for the SMA hinge. Preliminary simulations are carried out in the sagittal plane of the body to verify the functionality of the design in providing the motion requirements. Unlike existing AFOs with two hinges, the proposed design uses only one hinge. The multi-axial loading of the ground reaction in 3D is then simulated to estimate lateral response of the hinge in preventing hypermobility and securing the walking stability. To maintain stability the hinge should limit the motion in directions other than rotation in the sagittal plane. In addition to this passive hinge, superelastic SMA is also envisioned to realize an active AFO. To this end, an active superelastic SMA element which is adjusted structurally and dynamically is used to reproduce the stiffness variation of a healthy ankle. This concept could produce a controlled stiffness profile desired for different walking conditions such as various speeds. Actuation mechanism design for this concept is also discussed. Although, the major contribution of this study is developing a reliable passive AFO design, experimental and numerical analyses confirm the functionality of both passive and active SMA AFOs.

Download or read book Towards a Shape Memory Alloy Based Variable Stiffness Ankle Foot Orthosis written by Minal Bhadane-Deshpande and published by . This book was released on 2012 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drop foot is a neuromuscular disorder causing a loss of use of the muscles that lift the foot. Drop foot can primarily be caused by stroke, cerebral palsy, multiple sclerosis, or neurological trauma. The two major complications of drop foot are slapping of the foot after heel strike (foot slap) and dragging of the toe during swing (toe drag). The current treatment options like Ankle Foot Orthosis (AFO) and Functional Electrical Stimulation, while offering some biomechanical benefits, do not adapt to different walking conditions and fail to eliminate significant gait complications. This study proposes a novel Active Ankle Foot Orthosis design which combines an AFO and combinations of shape memory alloy (SMA) wires. The key feature of SMA is its ability to undergo seemingly large plastic strains and subsequently recover these strains when a load is removed or the material is heated. Because of this distinct thermomechanical behavior, SMA can potentially resolve some of the gait complications associated with use of an AFO. To provide a basis for the design of an AAFO, gait analysis is performed on healthy subjects along with drop foot patients to establish the deficiency in ankle stiffness characteristics. The initial verification of the thermomechanical behavior of SMA in the form of stiffness variation is carried out by testing SMA wire combinations. Based on these experiments a COMSOL model is verified which is used for simulating the combinations of SMA wires. Through simulations and experiments it has been shown that changing the combination of SMA wires result in variable stiffness pattern. The performance of different types and combinations of SMA wires are tested successfully on an AFO. The preliminary results demonstrate that SMA wires provide controlled plantarflexion during stance phase, and active dorsiflexion in the swing phase by using stiffness variations of shape memory alloy wires. In particular, the AAFO helps to avoid major complications of drop foot gait. Thus, with the development of a control strategy, and using the inherent stiffness variation of SMA wires it is possible to produce close-to-normal stiffness profiles in the ankle motion of drop-foot patients who are wearing the AAFO.

Download or read book Shape Memory Alloys written by Farzad Ebrahimi and published by BoD – Books on Demand. This book was released on 2017-09-20 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a result of contributions of experts from international scientific community working in different aspects of shape memory alloys (SMAs) and reports on the state-of-the-art research and development findings on this topic through original and innovative research studies. Through its five chapters, the reader will have access to works related to ferromagnetic SMAs, while it introduces some specific applications like development of faster SMA actuators and application of nanostructural SMAs in medical devices. The book contains up-to-date publications of leading experts, and the edition is intended to furnish valuable recent information to the professionals involved in shape memory alloys analysis and applications. The text is addressed not only to researchers but also to professional engineers, students, and other experts in a variety of disciplines, both academic and industrial, seeking to gain a better understanding of what has been done in the field recently and what kind of open problems are in this area.

Download or read book Development of an Active Ankle foot Orthosis Model to Provide Support During Push off written by Sylvain Kpekou and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The human ankle joint plays a crucial role during walking. Due to disorders or injuries, thepotential of the ankle plantarflexors can be negatively altered and lead to a reduction ofmobility. In this situation an active ankle-foot orthosis (AAFO) can significantly enhancethe rehabilitation or the assistance of the affected patients. Currently, ABLE human motionis developing an exoskeleton for lower limb with 1 degree of freedom in the sagittal plane.The objective of this device is to allow people suffering from a low spinal cord injury to walkagain. The main issue of the current prototype is the absence of power source to provoke aforward progression of the leg during the push-off phase of the gait.In this paper, a new active ankle foot orthosis model is presented. To enhance the initi-ation of the swing, the ankle needs to provide a burst of power during the terminal stancephase. However, one of the main challenges in developing AAFOs is to find the balancebetween the design requirements of wearability and the high power requirements. Prior tothe actuator selection, a semi-systematic review is conducted to better understand the roleof the ankle joint during the gait and the most adequate actuator to use in our application.Subsequently, first model of AFO powered by a parallel elastic actuator (PEA) is developed.The design of the model aims to minimize the peak power requirements of the actuator.Since the weight of the motor is directly correlated with the power it generates, reducing thepower helps to keep the AFO under an acceptable weight. The potential benefits of the PEAare studied using 4 different models. Throughout the results analysis, non-backdrivability,unidirectional spring, peak power and energy consumption are evaluated.The integration of a unidirectional spring or a self-licking system did not improve theminimization of the peak power for this application. However the PEA actuator allows apeak power reduction of almost 60%using the parallel spring to provide the push of burstof power adequately. The work achieved in this thesis paves the way to further investigationsof the AAFO powered by a PEA and represents a first step to the integration of an AAFOin the current ABLE leg prototype.

Download or read book Smart Actuation and Sensing Systems written by Giovanni Berselli and published by BoD – Books on Demand. This book was released on 2012-10-17 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of the present book, which tries to summarize in an edited format and in a fairly comprehensive manner, many of the recent technical research accomplishments in the area of Smart Actuators and Smart Sensors, is to combine researchers and scientists from different fields into a single virtual room. The book hence reflects the multicultural nature of the field and will allow the reader to taste and appreciate different points of view, different engineering methods and different tools that must be jointly considered when designing and realizing smart actuation and sensing systems.

Download or read book Identification Simulation and Control of an Ankle Foot Orthosis written by Mohammadhassan A. Sofla and published by . This book was released on 2012 with total page 70 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drop foot is a neuromuscular condition affecting many patients with abnormality in the walking pattern. The most common treatment to address this condition is ankle foot orthoses. This research presents a study on development of an identified model for a torsional shape memory alloy-based ankle foot orthosis for drop foot disorder. The model has been developed in stages. First, a dynamic model of ankle in walking is developed using identification method. A dynamic model of torsional shape memory materials is then developed. In the final stage, these two models are combined. This final model is employed to evaluate performance of the proposed ankle foot orthosis in mitigating drop foot. To this end, a control system is developed to match dynamic behavior of the patient with normal ankle behavior. This research provides a computation approach to design and develop advance assistive devices for ankle such as orthosis, prosthesis and bionic.

Download or read book Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton written by Yuehong Yin and published by CRC Press. This book was released on 2019-09-05 with total page 375 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book systematically introduces the bionic nature of force sensing and control, the biomechanical principle on mechanism of force generation and control of skeletal muscle, and related applications in robotic exoskeleton. The book focuses on three main aspects: muscle force generation principle and biomechanical model, exoskeleton robot technology based on skeletal muscle biomechanical model, and SMA-based bionic skeletal muscle technology. This comprehensive and in-depth book presents the author's research experience and achievements of many years to readers in an effort to promote academic exchanges in this field. About the Author Yuehong Yin received his B.E. , M.S. and Ph.D. degrees from Nanjing University of Aeronautics and Astronautics, Nanjing, in 1990, 1995 and 1997, respectively, all in mechanical engineering. From December 1997 to December 1999, he was a Postdoctoral Fellow with Zhejiang University, Hangzhou, China, where he became an Associate Professor in July 1999. Since December 1999, he has been with the Robotics Institute, Shanghai Jiao Tong University, Shanghai, China, where he became a Professor and a Tenure Professor in December 2005 and January 2016, respectively. His research interests include robotics, force control, exoskeleton robot, molecular motor, artificial limb, robotic assembly, reconfigurable assembly system, and augmented reality. Dr. Yin is a fellow of the International Academy of Production Engineering (CIRP).

Download or read book The Design and Control of Active Ankle foot Orthoses written by Kenneth A. Shorter and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Ankle foot orthoses (AFOs) can be used to ameliorate the impact of impairments to the lower limb neuromuscular motor system that affect gait. Existing AFO technologies include passive devices with fixed and articulated joints, semi-active devices that modulate damping at the joint and active devices that make use of a variety of technologies to produce power to move the foot. Emerging technologies provide a vision for fully powered, untethered AFOs. In this dissertation, a novel portable powered ankle-foot orthosis (PPAFO) cabable of providing un-tethered assistance during gait is presented. The PPAFO provides both plantarflexor and dorsiflexor torque assistance via a bi-directional pneumatic rotary actuator. The system uses a portable pneumatic power source (compressed CO2 bottle) and embedded electronics to control the motion of the foot. Experimental data from two impaired and five healthy subjects were collected to demonstrate design functionality. The impaired subjects had bilateral impairments to the lower legs that caused weakness to the plantarflexors, in one case, and to the dorsiflexors in the other. Data from the healthy walkers demonstrated the PPAFO0́9s capability to provide correctly timed plantarflexor and dorsiflexor assistance during gait. The results from the impaired subjects demonstrated the PPAFO0́9s ability to provide functional assistance during gait. Additionally, this dissertation presented a modeling and control approach to address limitations present in the PPAFO through the introduction of a new hardware configuration and new control architecture. A combined model consisting of both the PPAFO and the human foot and shank segments was first derived and validated. Next, the current and the new PPAFO system configurations were evaluated both in simulation and experimentally during three simplified functional gait tasks: (1) motion control of the foot at the start of the gait cycle, (2) plantarflexor torque assistance during late stance, and (3) dorsiflexor position control of the foot during swing. The resulting analysis showed that the new system configuration both outperformed and was more efficient than the current PPAFO configuration. The stringent design requirements of light weight, small size, high efficiency and low noise make the creation of daily wear assist devices challenging, but once such devices appear they will present new opportunities for clinical treatment of gait abnormalities.

Download or read book Active Ankle Foot Orthotic written by Jose Gutierrez and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advanced Mobile Robotics written by DaeEun Kim and published by MDPI. This book was released on 2020-03-06 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective.

Download or read book Force controllable Ankle Foot Orthosis AFO to Assist Drop Foot Gait written by Joaquin Andres Blaya and published by . This book was released on 2002 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Synthesis Characterization and Applications of Magneto Responsive Functional Materials written by Yancheng Li and published by Frontiers Media SA. This book was released on 2021-08-10 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book ICPER 2020 written by Faiz Ahmad and published by Springer Nature. This book was released on 2022-10-03 with total page 997 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains papers presented in the 7th International Conference on Production, Energy and Reliability (ICPER 2020) under the banner of World Engineering, Science & Technology Congress (ESTCON2020) held from 14th to 16th July 2020 at Borneo Convention Centre, Kuching, Malaysia. The conference contains papers presented by academics and industrial practitioners showcasing their latest advancements and findings in mechanical engineering areas with an emphasis on sustainability and the Industrial Revolution 4.0. The papers are categorized under the following tracks and topics of research: IoT, Reliability and Simulation Advanced Materials, Corrosion and Autonomous Production Efficient Energy Systems and Thermofluids Production, Manufacturing and Automotive

Download or read book Advances in Therapeutic Engineering written by Wenwei Yu and published by CRC Press. This book was released on 2012-12-03 with total page 499 pages. Available in PDF, EPUB and Kindle. Book excerpt: Therapeutic Engineering (TE) is a cutting-edge domain in today’s era of medical technology research. Through engineering algorithms that provide technological solutions, it aims to elevate the quality of life of disabled individuals. Advances in Therapeutic Engineering describes various therapeutic processes and mechanisms currently applied to the field of healthcare in a range of areas, including mobility, communications, hearing, vision, and mental health and cognition. The book explores research and advances in the areas of hand-eye coordination, motor function, the biomechanics of lower limbs, and treatment of spinal diseases and neural plasticity. It discusses electrical stimulation methodologies for improving human gait. It also examines prosthetic devices and assistive technology, induction heater-based treatment, and inclusive user modelling and simulation. Additional chapters cover automated asthma detection using clinico–spirometric information, computer-aided diagnostic modules for malaria screening, and various data mining techniques that have been developed and successfully implemented in healthcare management. The contributors also examine semantic interoperability issues in e-health systems and clinical decision support systems (CDSSs) Ranging from prosthetics to sensory substitution and medical robotics, the book will prove enlightening to researchers and practitioners in a host of disciplines who want to understand the recent advances achieved globally in the field of therapeutic engineering.

Download or read book Wearable Monitoring Systems written by Annalisa Bonfiglio and published by Springer Science & Business Media. This book was released on 2010-12-17 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: As diverse as tomorrow’s society constituent groups may be, they will share the common requirements that their life should become safer and healthier, offering higher levels of effectiveness, communication and personal freedom. The key common part to all potential solutions fulfilling these requirements is wearable embedded systems, with longer periods of autonomy, offering wider functionality, more communication possibilities and increased computational power. As electronic and information systems on the human body, their role is to collect relevant physiological information, and to interface between humans and local and/or global information systems. Within this context, there is an increasing need for applications in diverse fields, from health to rescue to sport and even remote activities in space, to have real-time access to vital signs and other behavioral parameters for personalized healthcare, rescue operation planning, etc. This book’s coverage will span all scientific and technological areas that define wearable monitoring systems, including sensors, signal processing, energy, system integration, communications, and user interfaces. Six case studies will be used to illustrate the principles and practices introduced.

Download or read book Gait Analysis written by Jacquelin Perry and published by CRC Press. This book was released on 2024-06-01 with total page 570 pages. Available in PDF, EPUB and Kindle. Book excerpt: The extensive and ground-breaking work of Dr. Jacquelin Perry is encompassed and detailed in the world renowned text, Gait Analysis: Normal and Pathological Function. The medical, healthcare, and rehabilitation professions key text for over 18 years on gait.... Now available in a much anticipated New Second Edition Dr. Jacquelin Perry is joined by Dr. Judith Burnfield to present today's latest research findings on human gait. Gait Analysis, Second Edition has been updated and expanded to focus on current research, more sophisticated methods, and the latest equipment available to analyze gait. What is New: • A new chapter covering running • Synergy of motion between the two limbs • A new chapter covering pediatrics • A new chapter covering stair negotiation • New and updated clinical examples • A section on power inside each chapter covering normal gait • New methods and equipment to analyze gait This Second Edition to Gait Analysis offers a re-organization of the chapters and presentation of material in a more user-friendly, yet comprehensive format. Essential information is provided describing gait functions, and clinical examples to identify and interpret gait deviations. Learning is further reinforced with images and photographs. Features: • Six sections cover the fundamentals, normal gait, pathological gait, clinical considerations, advanced locomotor functions, and gait analysis systems • Clinical significance of the most common pathological gait patterns • Over 470 illustrations and photographs, as well as 40 tables • Patient examples to illustrate elements of normal and pathological gait Tens of thousands of orthopedic, orthotic and prosthetic, physical therapy, and other rehabilitation professionals have kept a copy of Gait Analysis by their side for over 18 years...join the thousands more who will bring the Second Edition into their clinics, classrooms, and personal collections.